Toughbox vs KOP Toughbox Mini

[Trish Fisher]

The team is exploring ideas. Would using the toughbox make it harder for robots to push you around?

Does this mean that it is illegal to use a toughbox on this year's robot? I looked through the rules and I didn't see anything saying it was illegal, where would it be?

[Christopher149]

I don't think there has ever been a restriction on gear boxes (other than with window motors)

[nathan_hui]

Increasing the gear ratio (making the drive slower) would make it harder for someone else to push you around, but you run the risk of popping breakers.

Again, what Christopher said, though I think the PG71 was also restricted last year.

[Shane 2429]

nope my team has been using standard tough boxes for a long time and i haven't seen anything about toughboxes being removed from available usage

also yes they do slow you down quite a bit but if you want to play defense its whatcha gonna need

also easiest way to mount tough boxes drill holes in the casing mount that t the chassis and and then use all-thread and or a piece of 1in by 1in square bar and basically bolt them together. you need to do this because the amount of torque outputed will bend the bolts holding your gearboxes in place over time

also go steel its much better to know you wont have to strip apart gearboxes in the middle of a comp

[Ether]

Originally Posted by nathan_hui

Increasing the gear ratio (making the drive slower) would make it harder for someone else to push you around, but you run the risk of popping breakers.

Don't you have that backwards?

[nathan_hui]

Do I? Increasing the gear ratio means the motors turn more to get a single rotation of the output shaft, which slows down the drive, which allows more torque, which wins pushing matches while drawing more current. But I'm an EE, so what do I know?

[Jon Stratis]

Originally Posted by nathan_hui

Do I? Increasing the gear ratio means the motors turn more to get a single rotation of the output shaft, which slows down the drive, which allows more torque, which wins pushing matches while drawing more current. But I'm an EE, so what do I know?

It allows more torque at a higher motor speed... But your forgetting that the other robot is sitting there stalled. Stall = much, much higher current draw.

And seeing Ethers past contributions, like his recent tests on the speed controllers at Whirlpool's motor lab, I'm going to go with him on this one.

[pfreivald]

We used four 9:1 BB p80s on our Octocanum drive last year, then geared down a further 5:1 (net -- between the smaller traction wheels and a Gates belt with appropriately sized sprockets) when we got into pushing matches.

We got into lots and lots and lots and lots of pushing matches last year, and never once popped a breaker with a 45:1 reduction on four CIMs. Indeed, even with using pneumatics for the first time last year, and some extremely aggressive driving, we had better battery life than any other year thus far.

[Donut]

Originally Posted by nathan_hui

Do I? Increasing the gear ratio means the motors turn more to get a single rotation of the output shaft, which slows down the drive, which allows more torque, which wins pushing matches while drawing more current. But I'm an EE, so what do I know?

I think what Ether was pointing out is the part at the end about current. Increasing your gear ratio does increase motor revolutions relative to the output shaft, and increases torque. But this lowers overall current draw for the equivalent torque output, which would reduce breaker trips.

[nathan_hui]

I see. I guess you'd only see the current problem in a pushing match, or when you start flooring the accelerator. But for the purposes of the OP, extra motors (to the limit of the Toughboxes) shouldn't make a difference.

[Ether]

Originally Posted by nathan_hui

extra motors (to the limit of the Toughboxes) shouldn't make a difference.

Extra motors on a drivetrain make a difference when it comes to not popping breakers:

http://www.chiefdelphi.com/forums/sh...48&postcount=8

[Chris is me]

I think the KoP drive speed is very good this year and I don't see much of a reason to go more slowly, especially with the KoP drive using relatively precise belts. It's a good balance of speed and "pushing power".

[JamesCH95]

Originally Posted by nathan_hui

Increasing the gear ratio (making the drive slower) would make it harder for someone else to push you around, but you run the risk of popping breakers.

Again, what Christopher said, though I think the PG71 was also restricted last year.

Taking a little time to read and understand this chart, and even doing some of the basic math for myself, I learned a lot about drivetrains and their limiting factors.

[Taylor]

Originally Posted by nathan_hui

Probably, since the big toughboxes were originally paired with the old KoP chassis (which is now illegal, I believe). But what do I know?

Originally Posted by Trish Fisher

Does this mean that it is illegal to use a toughbox on this year's robot? I looked through the rules and I didn't see anything saying it was illegal, where would it be?

There are no restrictions on gearboxes or aluminum.
From reading <R13> and <R19>, it appears to me that structures/gearboxes from previous years' robots are legal as long as
A. The structure/gearbox is unchanged from original purchase
OR
B. The structure/gearbox has been adapted specifically for this year's game
(which is to say if you have a piece of C-Channel from 2011, unchanged, it's legal. If you have a piece of C-Channel used on your 2011 robot and you cut it again for the 2013 robot, it's legal. If you custom-cut a piece of C-Channel for your 2011 robot and are using it unchanged from 2011, it's illegal.)
Although the motors allowed are restricted to the table in <R32>, there are no restrictions on gearboxes provided they meet <R16> and <R19>

[FrankJ]

If your are stalled (0 RPM) the gear ratio has no effect on motor current. You will have a higher pushing force available with the higher ratio. (Newton will insist that if you are not accelerating the net force between the robots is 0). Other wise for a given output torque a higher (numerical) reduction will have the motor spinning faster at a lower torque therefore less current.